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提出了一种新的Ｓｔｅｗａｒｔ平台机械手动力学分析方法─—基于速度变换的坐标缩并方法，该方法根据Ｓｔｅｗａｒｔ平台的道运动学特点，直接导出独立广义速度与非独立广义速度之间的解析变换关系，无需构造约束方程的Ｊａｃｏｂｉａｎ矩阵，也不必进行各种复杂的矩阵分解运算，大大减少了计算量，同时也避免了由矩阵分解引入的数值稳定问题。通过分析证明该方法具有很高的计算效率，而且非常适合并行计算。该方法对其他形式的并联机器人机构同样适用。
A new method of robot dynamics analysis based on Stewart platform is proposed based on the kinematic characteristics of the Stewart platform. The method is based on the kinematic characteristics of the Stewart platform and directly derives the analytic transformation between independent generalized velocity and non-independent generalized velocity The Jacobian matrix of the constraint equations is not required to construct Jacobian matrices of the constrained equations. It does not need to perform various complex matrix decomposition operations, which greatly reduces the computational complexity and avoids the numerical stability problems introduced by matrix factorization. The analysis shows that the method has high computational efficiency and is suitable for parallel computing. This method is equally applicable to other forms of parallel robotics.